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<div class="title">voxel_grid_occlusion_estimation.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * Author : Christian Potthast</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_VOXEL_GRID_OCCLUSION_ESTIMATION_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_FILTERS_VOXEL_GRID_OCCLUSION_ESTIMATION_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/voxel_grid.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html">   56</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html">VoxelGridOcclusionEstimation</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::min_b_</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::max_b_</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::div_b_</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::leaf_size_</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::inverse_leaf_size_</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Filter&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#aa4a05cf935084f01556844c507a969aa">   71</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#aa4a05cf935084f01556844c507a969aa">VoxelGridOcclusionEstimation</a> ()</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        initialized_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        this-&gt;<a class="code" href="classpcl_1_1_voxel_grid.html#aabb07bacf03039f40d256b36ee2dd495">setSaveLeafLayout</a> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      }</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a068ab0617c94013b5ad602f93db26015">   78</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a068ab0617c94013b5ad602f93db26015">~VoxelGridOcclusionEstimation</a> ()</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a2a7aa2a6a31a4c7a8fdaf480b8f44cca">initializeVoxelGrid</a> ();</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ada571e881ed4c22607d81fce8df62227">occlusionEstimation</a> (<span class="keywordtype">int</span>&amp; out_state,</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                           <span class="keyword">const</span> Eigen::Vector3i&amp; in_target_voxel);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ada571e881ed4c22607d81fce8df62227">occlusionEstimation</a> (<span class="keywordtype">int</span>&amp; out_state,</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                           std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt;&amp; out_ray,</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                           <span class="keyword">const</span> Eigen::Vector3i&amp; in_target_voxel);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a2c2ba288edaa06131e3a6ba0f8a8bb81">occlusionEstimationAll</a> (std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt;&amp; occluded_voxels);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a></div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a50cce6b18b40581ff4abb06cc838480d">  127</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a50cce6b18b40581ff4abb06cc838480d">getFilteredPointCloud</a> () { <span class="keywordflow">return</span> filtered_cloud_; }</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3f</div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ae9aa43b955a456dd9e1fcfb2da994ff0">  134</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ae9aa43b955a456dd9e1fcfb2da994ff0">getMinBoundCoordinates</a> () { <span class="keywordflow">return</span> (b_min_.head&lt;3&gt; ()); }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3f</div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a7d2422572a7bbbe08bcb8fa8b64718e2">  140</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a7d2422572a7bbbe08bcb8fa8b64718e2">getMaxBoundCoordinates</a> () { <span class="keywordflow">return</span> (b_max_.head&lt;3&gt; ()); }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keyword">inline</span> Eigen::Vector4f</div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#afa409d3f099e4c71d922f4999887f787">  148</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#afa409d3f099e4c71d922f4999887f787">getCentroidCoordinate</a> (<span class="keyword">const</span> Eigen::Vector3i&amp; ijk)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keywordtype">int</span> i,j,k;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        i = ((b_min_[0] &lt; 0) ? (abs (<a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[0]) + ijk[0]) : (ijk[0] - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[0]));</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        j = ((b_min_[1] &lt; 0) ? (abs (<a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[1]) + ijk[1]) : (ijk[1] - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[1]));</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        k = ((b_min_[2] &lt; 0) ? (abs (<a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[2]) + ijk[2]) : (ijk[2] - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[2]));</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        Eigen::Vector4f xyz;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        xyz[0] = b_min_[0] + (<a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[0] * 0.5f) + (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (i) * <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[0]);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        xyz[1] = b_min_[1] + (<a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[1] * 0.5f) + (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (j) * <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[1]);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        xyz[2] = b_min_[2] + (<a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[2] * 0.5f) + (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (k) * <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[2]);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        xyz[3] = 0;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keywordflow">return</span> xyz;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="comment">// inline void</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="comment">// setSensorOrigin (const Eigen::Vector4f origin) { sensor_origin_ = origin; }</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="comment">// inline void</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="comment">// setSensorOrientation (const Eigen::Quaternionf orientation) { sensor_orientation_ = orientation; }</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a73e48f89db0b088caa22a1935ec15ecf">rayBoxIntersection</a> (<span class="keyword">const</span> Eigen::Vector4f&amp; origin, </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                          <span class="keyword">const</span> Eigen::Vector4f&amp; direction);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a809a45f306299a20ae44a5cc6e01aff5">rayTraversal</a> (<span class="keyword">const</span> Eigen::Vector3i&amp; target_voxel,</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4f&amp; origin, </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4f&amp; direction,</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                    <span class="keyword">const</span> <span class="keywordtype">float</span> t_min);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a809a45f306299a20ae44a5cc6e01aff5">rayTraversal</a> (std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt;&amp; out_ray,</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                    <span class="keyword">const</span> Eigen::Vector3i&amp; target_voxel,</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4f&amp; origin, </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4f&amp; direction,</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;                    <span class="keyword">const</span> <span class="keywordtype">float</span> t_min);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a3fa600274aee939eba0e317dcbd6d6cf">  216</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a3fa600274aee939eba0e317dcbd6d6cf">round</a> (<span class="keywordtype">float</span> d)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (floor (d + 0.5f));</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      }</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="comment">// We use round here instead of floor due to some numerical issues.</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="comment"></span>      <span class="keyword">inline</span> Eigen::Vector3i</div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a4cf0240b7785108db75da2ad64523c2e">  228</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a4cf0240b7785108db75da2ad64523c2e">getGridCoordinatesRound</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z) </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="keywordflow">return</span> Eigen::Vector3i (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a3fa600274aee939eba0e317dcbd6d6cf">round</a> (x * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[0])), </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                                <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a3fa600274aee939eba0e317dcbd6d6cf">round</a> (y * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[1])), </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                                <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a3fa600274aee939eba0e317dcbd6d6cf">round</a> (z * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[2])));</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="comment">// initialization flag</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keywordtype">bool</span> initialized_;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      Eigen::Vector4f sensor_origin_;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      Eigen::Quaternionf sensor_orientation_;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="comment">// minimum and maximum bounding box coordinates</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      Eigen::Vector4f b_min_, b_max_;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <span class="comment">// voxel grid filtered cloud</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> filtered_cloud_;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  };</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;}</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/voxel_grid_occlusion_estimation.hpp&gt;</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_FILTERS_VOXEL_GRID_OCCLUSION_ESTIMATION_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a></div><div class="ttdoc">VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aa920d3e9fa0d03643423ade34f6ec986"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">pcl::VoxelGrid::min_b_</a></div><div class="ttdeci">Eigen::Vector4i min_b_</div><div class="ttdoc">The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:472</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aabb07bacf03039f40d256b36ee2dd495"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aabb07bacf03039f40d256b36ee2dd495">pcl::VoxelGrid::setSaveLeafLayout</a></div><div class="ttdeci">void setSaveLeafLayout(bool save_leaf_layout)</div><div class="ttdoc">Set to true if leaf layout information needs to be saved for later access.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:280</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_ad6e7aa7d90c1b75ab43d38c48dcff799"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">pcl::VoxelGrid::leaf_size_</a></div><div class="ttdeci">Eigen::Vector4f leaf_size_</div><div class="ttdoc">The size of a leaf.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:457</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aed2cf27b47ad2059be72e03326d4ff00"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">pcl::VoxelGrid::inverse_leaf_size_</a></div><div class="ttdeci">Eigen::Array4f inverse_leaf_size_</div><div class="ttdoc">Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:460</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html">pcl::VoxelGridOcclusionEstimation</a></div><div class="ttdoc">VoxelGrid to estimate occluded space in the scene. The ray traversal algorithm is implemented by the ...</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a068ab0617c94013b5ad602f93db26015"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a068ab0617c94013b5ad602f93db26015">pcl::VoxelGridOcclusionEstimation::~VoxelGridOcclusionEstimation</a></div><div class="ttdeci">virtual ~VoxelGridOcclusionEstimation()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a2a7aa2a6a31a4c7a8fdaf480b8f44cca"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a2a7aa2a6a31a4c7a8fdaf480b8f44cca">pcl::VoxelGridOcclusionEstimation::initializeVoxelGrid</a></div><div class="ttdeci">void initializeVoxelGrid()</div><div class="ttdoc">Initialize the voxel grid, needs to be called first Builts the voxel grid and computes additional val...</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a2c2ba288edaa06131e3a6ba0f8a8bb81"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a2c2ba288edaa06131e3a6ba0f8a8bb81">pcl::VoxelGridOcclusionEstimation::occlusionEstimationAll</a></div><div class="ttdeci">int occlusionEstimationAll(std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; &amp;occluded_voxels)</div><div class="ttdoc">Computes the voxel coordinates (i, j, k) of all occluded voxels in the voxel gird.</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.hpp:133</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a3fa600274aee939eba0e317dcbd6d6cf"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a3fa600274aee939eba0e317dcbd6d6cf">pcl::VoxelGridOcclusionEstimation::round</a></div><div class="ttdeci">float round(float d)</div><div class="ttdoc">Returns a rounded value.</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.h:216</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a4cf0240b7785108db75da2ad64523c2e"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a4cf0240b7785108db75da2ad64523c2e">pcl::VoxelGridOcclusionEstimation::getGridCoordinatesRound</a></div><div class="ttdeci">Eigen::Vector3i getGridCoordinatesRound(float x, float y, float z)</div><div class="ttdoc">Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.h:228</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a50cce6b18b40581ff4abb06cc838480d"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a50cce6b18b40581ff4abb06cc838480d">pcl::VoxelGridOcclusionEstimation::getFilteredPointCloud</a></div><div class="ttdeci">PointCloud getFilteredPointCloud()</div><div class="ttdoc">Returns the voxel grid filtered point cloud</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.h:127</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a73e48f89db0b088caa22a1935ec15ecf"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a73e48f89db0b088caa22a1935ec15ecf">pcl::VoxelGridOcclusionEstimation::rayBoxIntersection</a></div><div class="ttdeci">float rayBoxIntersection(const Eigen::Vector4f &amp;origin, const Eigen::Vector4f &amp;direction)</div><div class="ttdoc">Returns the scaling value (tmin) were the ray intersects with the voxel grid bounding box....</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.hpp:176</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a7d2422572a7bbbe08bcb8fa8b64718e2"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a7d2422572a7bbbe08bcb8fa8b64718e2">pcl::VoxelGridOcclusionEstimation::getMaxBoundCoordinates</a></div><div class="ttdeci">Eigen::Vector3f getMaxBoundCoordinates()</div><div class="ttdoc">Returns the maximum bounding of coordinates of the voxel grid (x,y,z).</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a809a45f306299a20ae44a5cc6e01aff5"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a809a45f306299a20ae44a5cc6e01aff5">pcl::VoxelGridOcclusionEstimation::rayTraversal</a></div><div class="ttdeci">int rayTraversal(const Eigen::Vector3i &amp;target_voxel, const Eigen::Vector4f &amp;origin, const Eigen::Vector4f &amp;direction, const float t_min)</div><div class="ttdoc">Returns the state of the target voxel (0 = visible, 1 = occupied) unsing a ray traversal algorithm.</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.hpp:243</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_aa4a05cf935084f01556844c507a969aa"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#aa4a05cf935084f01556844c507a969aa">pcl::VoxelGridOcclusionEstimation::VoxelGridOcclusionEstimation</a></div><div class="ttdeci">VoxelGridOcclusionEstimation()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.h:71</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_ada571e881ed4c22607d81fce8df62227"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ada571e881ed4c22607d81fce8df62227">pcl::VoxelGridOcclusionEstimation::occlusionEstimation</a></div><div class="ttdeci">int occlusionEstimation(int &amp;out_state, const Eigen::Vector3i &amp;in_target_voxel)</div><div class="ttdoc">Computes the state (free = 0, occluded = 1) of the voxel after utilizing a ray traversal algorithm to...</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.hpp:70</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_ae9aa43b955a456dd9e1fcfb2da994ff0"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ae9aa43b955a456dd9e1fcfb2da994ff0">pcl::VoxelGridOcclusionEstimation::getMinBoundCoordinates</a></div><div class="ttdeci">Eigen::Vector3f getMinBoundCoordinates()</div><div class="ttdoc">Returns the minimum bounding of coordinates of the voxel grid (x,y,z).</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_afa409d3f099e4c71d922f4999887f787"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#afa409d3f099e4c71d922f4999887f787">pcl::VoxelGridOcclusionEstimation::getCentroidCoordinate</a></div><div class="ttdeci">Eigen::Vector4f getCentroidCoordinate(const Eigen::Vector3i &amp;ijk)</div><div class="ttdoc">Returns the corresponding centroid (x,y,z) coordinates in the grid of voxel (i,j,k).</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.h:148</div></div>
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